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Alternative TitleCompliance Control Based on the Fuzzy Inference and Passivity Theory for Upper Limb Rehabilitation Robot
侯澈; 赵忆文; 宋国立; 王争
Conference Name36th Chinese Control Conference
Conference DateJuly 26-28, 2017
Conference PlaceDalian, China
Author of Source中国自动化学会控制理论专业委员会
Source PublicationProceedings of the 36th Chinese Control Conference
Contribution Rank1
Keyword康复机器人 阻抗控制 模糊推理 柔性关节
Other AbstractFor the upper limb rehabilitation robot with flexible joints, a compliance control based the fuzzy method and passivity method is proposed. The kinetic model of robot is analyzed firstly. Impedance control based on joint and Cartesian space is implemented. Interaction torque observer is designed for estimating the interaction torque between human and robot. Then the fuzzy inference algorithm to adjust stiffness of the impedance controller is used in order to make the user obtain suitable contact force. Experimental results show that this method has good stability and robustness. It also could adjust the contact force between patient and robot through changing the Stiffness coefficients of controller, which will ensure the user^ safety and comfort.
Document Type会议论文
Corresponding Author侯澈
Recommended Citation
GB/T 7714
侯澈,赵忆文,宋国立,等. 基于模糊推理与无源性理论的上肢康复机器人柔顺控制[C]//中国自动化学会控制理论专业委员会,2017:4305-4311.
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